融合LPA*和DWA算法的导向辊生产车间AGV组合路径规划方法研究

A Combined Path Planning Method Based on LPA* and DWA Algorithms for AGV in the Guided Roller Production Workshop

关键词:  造纸类机械  导向辊生产车间  AGV  路径规划

Key Words:papermaking machinery  guided roller production workshop  AGV  path planning

摘要:针对造纸类机械的导向辊生产线存在的多车间室内外导航精度不足、多车间运输通道共用、单车间产线交叉等问题，提出了融合LPA*和DWA算法的导向辊生产车间自动引导车（Automated Guided Vehicle，AGV）组合路径规划方法。首先建立了AGV本体运动模型和导向辊生产车间模型；然后提出了局部与全局组合的路径规划方法，采用LPA*算法进行全局路径规划解决了全局最优路径的问题，采用DWA算法进行局部路径规划解决了避障问题；最后通过实验验证将本研究提出的组合路径规划算法与传统路径规划算法对比，组合路径规划算法较大缩短了路径搜索的时间，效率更高。

Abstract:Aiming at the challenges of indoor and outdoor navigation， shared transportation channels in multiple workshops， and cross-intersections in single workshop production lines of the papermaking machinery guided roller production line， a combined path planning method for Automated Guided Vehicle （AGV） in the guided roller production workshop by integrating LPA* and DWA algorithms was proposed. Firstly， the AGV’s motion model and the guided roller production workshop model were established. Then， a combined path of local and global path planning method was proposed， where LPA* algorithm was utilized for global path planning to address the issue of finding the global optimal path， and DWA algorithm was employed for local path planning to tackle the obstacle avoidance problem. Finally， experimental verification demonstrated that the proposed combined path planning algorithm significantly reduced the search time for paths compared to traditional path planning algorithms， resulting in higher efficiency.